Should I ask her out? And how?

Ok, so I've liked this girl for a long time, but I haven't really spoken to her much. We have conversations every now and then. I really want to ask her out, but I get really nervous so I don't know if I should do it in personal or over social media (Instagram, I don't even have her number) but even then what do I say? Is it too random to just say something like "Hey 'so-and-so', I was wondering if you'd like to grab something to eat sometime? I'm very socially anxious also, so even though over the phone would be informal, it would be helpful to me.
Should I ask her out? And how?
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